#include "nml_intf/zuc.hh"
#include "nml_intf/zuc_nml.hh"

ZUC_TASK_STAT::ZUC_TASK_STAT() : ZUC_TASK_STAT_MSG(ZUC_TASK_STAT_TYPE, sizeof(ZUC_TASK_STAT))
{
    // int t;

    mode = ZUC_TASK_MODE_MANUAL;
    state = ZUC_TASK_STATE_POWERED_OFF;
    execState = ZUC_TASK_EXEC_DONE;
    interpState = ZUC_TASK_INTERP_IDLE;
    callLevel = 0;
    motionLine = 0;
    currentLine = 0;
    readLine = 0;
    sleepLine = 0;
    executingLine = 0;
    optional_stop_state = OFF;
    block_delete_state = OFF;
    input_timeout = OFF;
    file[0] = 0;
    command[0] = 0;

    ZERO_ZUC_POSE(robotToolOffset);
    ZERO_ZUC_POSE(robotUserOffset);

    programUnits = CANON_UNITS_MM;
    interpreter_errcode = 0;
    task_paused = 0;
    delayLeft = 0.0;
    queuedMDIcommands = 0;
}

ZUC_STAT::ZUC_STAT() : ZUC_STAT_MSG(ZUC_STAT_TYPE, sizeof(ZUC_STAT))
{
    mbSlaveCommType = 0;
    cab_type = 1;
    initSimMode = -1;
}
